CN1260046C - Combined type micro holder - Google Patents
Combined type micro holder Download PDFInfo
- Publication number
- CN1260046C CN1260046C CN 200310107692 CN200310107692A CN1260046C CN 1260046 C CN1260046 C CN 1260046C CN 200310107692 CN200310107692 CN 200310107692 CN 200310107692 A CN200310107692 A CN 200310107692A CN 1260046 C CN1260046 C CN 1260046C
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- China
- Prior art keywords
- guide groove
- groove body
- brace summer
- motor
- supporting beam
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- Expired - Fee Related
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Abstract
The present invention discloses a holder for clamping a micro-object-a combined type micro-holder which is composed of a guide groove body (4), a motor (3), a nut (5), a front supporting beam (6), a back supporting beam (8), a bearing (10), a spring (7) and two piezoelectric over beams (2), wherein the lower half part of the front supporting beam (6) is inlaid in a guide groove (4-1) which is arranged on the upper surface of the guide groove body (4). The motor is arranged on the left end of the guide groove body (4), and a motor shaft (3-1) which is provided with accurate threads and arranged on the surface of the motor (3) penetrates in the guide groove body (4). A free end of the motor shaft (3-1) is connected with the guide groove body through the bearing (10), and the nut (5) is screwed on the motor shaft (3-1), and is fixedly connected with the lower end of the front supporting beam (6). The back supporting beam (8) is fixed on the right end of the guide groove body (4), the spring (7) is arranged between the front supporting beam (6) and the back supporting beam (8), and the two piezoelectric over beams (2) are respectively arranged on the upper ends of the front supporting beam (6) and the back supporting beam (8). Compared with other micro-holders, the present invention has large commonality and applicability, and has very high practicability.
Description
Technical field
The present invention relates to a kind of microoperation power tool, be specifically related to a kind of clamper that is used for the clamping small items.
Background technology
Development along with nanometer technology, at machinery, electronics, medical treatment, fields such as biology, press for fine working equipment, although the object difference of fine operation, but in the microoperation process, picked-up to small items, operation and carrying all be unable to do without little clamping technology, micro clamping device is a kind of important microoperation power tool, have important research and practical value, at present, domestic some micro clamping devices of developing, they are at operating principle, type of drive, aspects such as mechanism have their own characteristics each, but also there are some problems, show: clamping range little (the hundreds of micron is following); If clamping range is bigger, the folding resolution ratio of clamping precision and clamper is just lower, has the contradiction of clamping range and clamping precision, resolution ratio; Therefore, the versatility of clamper and applicability are relatively poor.
Summary of the invention
In order to overcome existing clamper versatility and the relatively poor defective of applicability, provide a kind of clamper of versatility and applicability widely that has.The present invention is achieved by following proposal: a kind of Combined Micro-gripper, adopted the structure of grand little combination, it is by guide groove body 4, motor 3, nut 5, preceding brace summer 6, back brace summer 8, bearing 10, spring 7 and two piezoelectricity overarms 2 are formed, the Lower Half of preceding brace summer 6 is set among the guide groove 4-1 that is opened on guide groove body 4 upper surfaces, motor 3 is arranged on the left end of guide groove body 4, the motor shaft 3-1 that has accurate thread on the surface of motor 3 penetrates in the guide groove body 4, the free end of motor shaft 3-1 is connected on the guide groove body 4 by bearing 10, nut 5 screws on motor shaft 3-1 and with the lower end of preceding brace summer 6 fixedlys connected, back brace summer 8 is fixed on the right-hand member of guide groove body 4, before brace summer 6 and back be provided with 7, two piezoelectricity overarms 2 of spring between the brace summer 8 and be separately positioned on before brace summer 6 and after on the upper end of brace summer 8.Piezoelectricity overarm 2 is made up of piezoelectric chip 2-1, an intermetallic metal skeleton 2-2, No. two piezoelectric chip 2-3, strain transducer 2-4 and No. two strain transducer 2-5, intermetallic metal skeleton 2-2 is fixed on the centre of a piezoelectric chip 2-1 and No. two piezoelectric chip 2-3, No. one strain transducer 2-4 is integrated on the surface of a piezoelectric chip 2-1, No. two strain transducer 2-5 is integrated on the surface of No. two piezoelectric chip 2-3, strain transducer 2-4 and No. two strain transducer 2-5 form Wheatstone bridges, have realized the integrated design of mechanism, driving, detection.Clamper of the present invention in use, rotation by motor shaft 3-1 drives the preceding brace summer 6 that is connected with nut 5 and moves, thereby finish the grand moving adjustment of distance between two piezoelectricity overarms 2, by making it the work that the clamping object is finished in bending to piezoelectricity overarm 2 energisings.The present invention is based on the design philosophy of grand little combination, propose the scheme of Combined Micro-gripper, it can either realize grand moving adjustment, can realize the fine motion clamping again, solve the contradiction between clamping range and the folding resolution ratio, realize under the big clamping range, higher opening and closing resolution ratio, clamping is controlled, compact conformation, can adapt to the small items of different size, remove the trouble of frequent replacing instrument from, volume is little, in light weight simultaneously, adapts to the limited working space of fine operation microscopically.Compare with other micro clamping devices, the present invention has bigger versatility and applicability, has very high practical value.
Description of drawings
Fig. 1 is a structural representation of the present invention, and Fig. 2 is the vertical view of Fig. 1, and Fig. 3 is the structural representation of piezoelectricity overarm 2.
The specific embodiment
It is by guide groove body 4, motor 3, nut 5, preceding brace summer 6, back brace summer 8, bearing 10, spring 7 and two piezoelectricity overarms 2 are formed, the Lower Half of preceding brace summer 6 is set among the guide groove 4-1 that is opened on guide groove body 4 upper surfaces, motor 3 is arranged on the left end of guide groove body 4, the motor shaft 3-1 that has accurate thread on the surface of motor 3 penetrates in the guide groove body 4, the free end of motor shaft 3-1 is connected on the guide groove body 4 by bearing 10, nut 5 screws on motor shaft 3-1 and with the lower end of preceding brace summer 6 fixedlys connected, back brace summer 8 is fixed on the right-hand member of guide groove body 4, before brace summer 6 and back be provided with 7, two piezoelectricity overarms 2 of spring between the brace summer 8 and be separately positioned on before brace summer 6 and after on the upper end of brace summer 8.Before and after acting on, spring 7 between the brace summer, eliminates the mechanism gap.Improve positioning accuracy, for grand moving part, in order to reduce volume, simplify the internal structure of an organization as far as possible, reduce transmission link, motor 3 selects for use APH59001 type High Precision Linear Motor to realize the campaign of clamping adjustment on a large scale.For the fine motion part, because piezoelectric ceramic devices have high-resolution (can reach nanoscale), high frequency response (can reach tens kHz), do not generate heat, advantages such as volume is little, in order to reduce volume, simplify the internal structure of an organization, adopt the overarm of twin lamella piezoelectricity to be driving element, piezoelectricity overarm 2 is by a piezoelectric chip 2-1, intermetallic metal skeleton 2-2, No. two piezoelectric chip 2-3, a strain transducer 2-4 and No. two strain transducer 2-5 form, intermetallic metal skeleton 2-2 is fixed on the centre of a piezoelectric chip 2-1 and No. two piezoelectric chip 2-3, No. one strain transducer 2-4 is integrated on the surface of a piezoelectric chip 2-1, No. two strain transducer 2-5 is integrated on the surface of No. two piezoelectric chip 2-3, and a strain transducer 2-4 and No. two strain transducer 2-5 form Wheatstone bridge.The present invention is in when work, intermetallic metal skeleton 2-2 ground connection, and No. two piezoelectric chip 2-3 connects negative voltage, and No. one piezoelectric chip 2-1 connects positive voltage, and inside flexural deformation just takes place in piezoelectricity overarm 2, thereby clamps object.Adjusting is added in the electric field level on the piezo-electric crystal, just can regulate little clamping amount, can part the detection of resultant a little by strain transducer.The present invention adopts twin lamella piezoelectricity overarm to be driving element, and it is also as the skeleton of mechanism simultaneously, surperficial integrated strain transducer carries out micrometric displacement and detects, and has realized the integrated of mechanism, driving, detection.The performance indications that micro clamping device of the present invention reaches: grand moving opening and closing amount: 0～3000 μ m, fine motion opening and closing amount: ± 130 μ m, opening and closing repetitive positioning accuracy: 0.5 μ m, resolution ratio: 35nm.Chucking power: 0.119N, overall dimensions: 40mm * 28mm * 50mm (length * wide * height).This micro clamping device structure combines the overarm of little linear electric motors and piezoelectricity, has realized grand little clamping location, has eliminated the mechanism gap by spring, reach high control precision by the piezoelectricity overarm, has realized the integrated of mechanism, driving, detection.Have compact conformation, the operating space is big, precision is high, resolution ratio is high, the characteristics of compact conformation, can realize the clamping of multiple size small items.
Claims (1)
1, a kind of Combined Micro-gripper, it is characterized in that adopting the structure of grand little combination, it is by guide groove body (4), motor (3), nut (5), preceding brace summer (6), back brace summer (8), bearing (10), spring (7) and two piezoelectricity overarms (2) are formed, the Lower Half of preceding brace summer (6) is set in the guide groove of being opened on guide groove body (4) upper surface (4-1), motor (3) is arranged on the left end of guide groove body (4), the motor shaft (3-1) that has accurate thread on the surface of motor (3) penetrates in the guide groove body (4), the free end of motor shaft (3-1) is connected on the guide groove body (4) by bearing (10), nut (5) screws at motor shaft (3-1) upward and with the lower end of preceding brace summer (6) fixedlys connected, back brace summer (8) is fixed on the right-hand member of guide groove body (4), be provided with spring (7) between preceding brace summer (6) and the back brace summer (8), two piezoelectricity overarms (2) are separately positioned on the upper end of preceding brace summer (6) and back brace summer (8); Piezoelectricity overarm (2) is by a piezoelectric chip (2-1), intermetallic metal skeleton (2-2), No. two piezoelectric chips (2-3), a strain transducer (2-4) and No. two strain transducers (2-5) are formed, intermetallic metal skeleton (2-2) is fixed on the centre of a piezoelectric chip (2-1) and No. two piezoelectric chips (2-3), a strain transducer (2-4) is integrated on the surface of a piezoelectric chip (2-1), No. two strain transducers (2-5) are integrated on the surface of No. two piezoelectric chips (2-3), a strain transducer (2-4) and No. two strain transducers (2-5) are formed Wheatstone bridge, have realized mechanism, drive, the integrated design that detects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310107692 CN1260046C (en) | 2003-11-12 | 2003-11-12 | Combined type micro holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310107692 CN1260046C (en) | 2003-11-12 | 2003-11-12 | Combined type micro holder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1544207A CN1544207A (en) | 2004-11-10 |
| CN1260046C true CN1260046C (en) | 2006-06-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310107692 Expired - Fee Related CN1260046C (en) | 2003-11-12 | 2003-11-12 | Combined type micro holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1260046C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100349704C (en) * | 2005-10-20 | 2007-11-21 | 中国科学技术大学 | Electrostatic force driven minisized tri-arm gripping device |
| CN100339194C (en) * | 2005-11-14 | 2007-09-26 | 哈尔滨工业大学 | Microminiature mobile robot system oriented to precise operation of micro electromechanical system |
-
2003
- 2003-11-12 CN CN 200310107692 patent/CN1260046C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1544207A (en) | 2004-11-10 |
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| CF01 | Termination of patent right due to non-payment of annual fee |